Bidirectional Heuristic Search Again

Extensive modifications of a previously published bidirectional heuristic search algorithm (see D. de Champeaux and L. Sint, IBID., vol.24, no.2, p.177-91, 1977) are presented in order to preserve the property that shortest solutions are found under appropriate circumstances. Theoretical results encompass the generalisation of the unidirectional optimality theorem. 5 references.